OpenRaiser/Intern-Atlas huggingface dataset:
SynQ: An Embedded DSL for Synchronous System Design with Quantitative Types
Venue: arXiv cs.SE 2025
Year: 2025

System design automation aims to manage the design of embedded systems with ever-increasing complexity. To the success of system design automation, there is still a lack of systematic and formal design process because an entire design process, from a system's specification to its implementation, has to deal with inherent concerns about the systems' different aspects and, consequently, inherent semantic gaps. These gaps make it hard for a design process to be traceable or transparent. Particularly, guaranteeing the correctness of produced implementations becomes the main challenge for a system design process. SynQ (Synchronous system design with Quantitative types) is an embedded domain specification language (EDSL) targeting the design of systems obeying the perfect synchrony hypothesis. SynQ is based on a component-based design framework and, by design, facilitates semantic coherency by leveraging the quantitative type theory (QTT) and language embedding. SynQ enables a semantically coherent design process, including formal specification and verification, modelling, simulation and code generation. This paper presents SynQ and its underlying formalism and demonstrates its features and potential for semantically coherent system design through a case study.
The Art of Repair: Optimizing Iterative Program Repair with Instruction-Tuned Models
Venue: arXiv cs.SE 2025
Year: 2025

Automatic program repair (APR) aims to reduce the manual efforts required to identify and fix errors in source code. Before the rise of LLM-based agents, a common strategy was to increase the number of generated patches, sometimes to the thousands, to achieve better repair results on benchmarks. More recently, self-iterative capabilities enabled LLMs to refine patches over multiple rounds guided by feedback. However, literature often focuses on many iterations and disregards different numbers of outputs. We investigate an APR pipeline that balances these two approaches, the generation of multiple outputs and multiple rounds of iteration, while imposing a limit of 10 total patches per bug. We apply three SOTA instruction-tuned LLMs - DeepSeekCoder-Instruct, Codellama-Instruct, Llama3.1-Instruct - to the APR task. We further fine-tune each model on an APR dataset with three sizes (1K, 30K, 65K) and two techniques (Full Fine-Tuning and LoRA), allowing us to assess their repair capabilities on two APR benchmarks: HumanEval-Java and Defects4J. Our results show that by using only a fraction (<1%) of the fine-tuning dataset, we can achieve improvements of up to 78% in the number of plausible patches generated, challenging prior studies that reported limited gains using Full Fine-Tuning. However, we find that exceeding certain thresholds leads to diminishing outcomes, likely due to overfitting. Moreover, we show that base models greatly benefit from creating patches in an iterative fashion rather than generating them all at once. In addition, the benefit of iterative strategies becomes more pronounced in complex benchmarks. Even fine-tuned models, while benefiting less from iterations, still gain advantages, particularly on complex benchmarks. The research underscores the need for balanced APR strategies that combine multi-output generation and iterative refinement.
Parallel GPU-Accelerated Randomized Construction of Approximate Cholesky Preconditioners
Venue: arXiv cs.DC 2025
Year: 2025

We introduce a parallel algorithm to construct a preconditioner for solving a large, sparse linear system where the coefficient matrix is a Laplacian matrix (a.k.a., graph Laplacian). Such a linear system arises from applications such as discretization of a partial differential equation, spectral graph partitioning, and learning problems on graphs. The preconditioner belongs to the family of incomplete factorizations and is purely algebraic. Unlike traditional incomplete factorizations, the new method employs randomization to determine whether or not to keep fill-ins, i.e., newly generated nonzero elements during Gaussian elimination. Since the sparsity pattern of the randomized factorization is unknown, computing such a factorization in parallel is extremely challenging, especially on many-core architectures such as GPUs. Our parallel algorithm dynamically computes the dependency among row/column indices of the Laplacian matrix to be factorized and processes the independent indices in parallel. Furthermore, unlike previous approaches, our method requires little pre-processing time. We implemented the parallel algorithm for multi-core CPUs and GPUs, and we compare their performance to other state-of-the-art methods.
Sim2Real Transfer for Vision-Based Grasp Verification
Venue: arXiv cs.RO 2025
Year: 2025

The verification of successful grasps is a crucial aspect of robot manipulation, particularly when handling deformable objects. Traditional methods relying on force and tactile sensors often struggle with deformable and non-rigid objects. In this work, we present a vision-based approach for grasp verification to determine whether the robotic gripper has successfully grasped an object. Our method employs a two-stage architecture; first YOLO-based object detection model to detect and locate the robot's gripper and then a ResNet-based classifier determines the presence of an object. To address the limitations of real-world data capture, we introduce HSR-GraspSynth, a synthetic dataset designed to simulate diverse grasping scenarios. Furthermore, we explore the use of Visual Question Answering capabilities as a zero-shot baseline to which we compare our model. Experimental results demonstrate that our approach achieves high accuracy in real-world environments, with potential for integration into grasping pipelines. Code and datasets are publicly available at https://github.com/pauamargant/HSR-GraspSynth .
Estimating the Diameter at Breast Height of Trees in a Forest With a Single 360 Camera
Venue: arXiv cs.CV 2025
Year: 2025

Forest inventories rely on accurate measurements of the diameter at breast height (DBH) for ecological monitoring, resource management, and carbon accounting. While LiDAR-based techniques can achieve centimeter-level precision, they are cost-prohibitive and operationally complex. We present a low-cost alternative that only needs a consumer-grade 360 video camera. Our semi-automated pipeline comprises of (i) a dense point cloud reconstruction using Structure from Motion (SfM) photogrammetry software called Agisoft Metashape, (ii) semantic trunk segmentation by projecting Grounded Segment Anything (SAM) masks onto the 3D cloud, and (iii) a robust RANSAC-based technique to estimate cross section shape and DBH. We introduce an interactive visualization tool for inspecting segmented trees and their estimated DBH. On 61 acquisitions of 43 trees under a variety of conditions, our method attains median absolute relative errors of 5-9% with respect to "ground-truth" manual measurements. This is only 2-4% higher than LiDAR-based estimates, while employing a single 360 camera that costs orders of magnitude less, requires minimal setup, and is widely available.
Image Recognition with Online Lightweight Vision Transformer: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

The Transformer architecture has achieved significant success in natural language processing, motivating its adaptation to computer vision tasks. Unlike convolutional neural networks, vision transformers inherently capture long-range dependencies and enable parallel processing, yet lack inductive biases and efficiency benefits, facing significant computational and memory challenges that limit its real-world applicability. This paper surveys various online strategies for generating lightweight vision transformers for image recognition, focusing on three key areas: Efficient Component Design, Dynamic Network, and Knowledge Distillation. We evaluate the relevant exploration for each topic on the ImageNet-1K benchmark, analyzing trade-offs among precision, parameters, throughput, and more to highlight their respective advantages, disadvantages, and flexibility. Finally, we propose future research directions and potential challenges in the lightweighting of vision transformers with the aim of inspiring further exploration and providing practical guidance for the community. Project Page: https://github.com/ajxklo/Lightweight-VIT
Robust Fairness Vision-Language Learning for Medical Image Analysis
Venue: arXiv cs.CV 2025
Year: 2025

The advent of Vision-Language Models (VLMs) in medical image analysis has the potential to help process multimodal inputs and increase performance over traditional inference methods. However, when considering the domain in which these models will be implemented, fairness and robustness are important to ensure the model stays true for any patient. In this paper, we introduce a framework for ensuring robustness and fairness of VLM models. This framework modifies the loss function at training by identifying and adjusting faulty image-text pairs through a Dynamic Bad Pair Mining algorithm and also utilizing Sinkhorn distance to ensure the loss distributions of protected groups do not deviate from the total loss. Experimental testing of our framework shows up to a 8.6\% improvement when looking at equity-scaled AUC.
Rethinking the Global Convergence of Softmax Policy Gradient with Linear Function Approximation
Venue: arXiv cs.LG 2025
Year: 2025

Policy gradient (PG) methods have played an essential role in the empirical successes of reinforcement learning. In order to handle large state-action spaces, PG methods are typically used with function approximation. In this setting, the approximation error in modeling problem-dependent quantities is a key notion for characterizing the global convergence of PG methods. We focus on Softmax PG with linear function approximation (referred to as $\texttt{Lin-SPG}$) and demonstrate that the approximation error is irrelevant to the algorithm's global convergence even for the stochastic bandit setting. Consequently, we first identify the necessary and sufficient conditions on the feature representation that can guarantee the asymptotic global convergence of $\texttt{Lin-SPG}$. Under these feature conditions, we prove that $T$ iterations of $\texttt{Lin-SPG}$ with a problem-specific learning rate result in an $O(1/T)$ convergence to the optimal policy. Furthermore, we prove that $\texttt{Lin-SPG}$ with any arbitrary constant learning rate can ensure asymptotic global convergence to the optimal policy.
Systematic Evaluation of Initial States and Exploration-Exploitation Strategies in PID Auto-Tuning: A Framework-Driven Approach Applied on Mobile Robots
Venue: arXiv cs.RO 2025
Year: 2025

PID controllers are widely used in control systems because of their simplicity and effectiveness. Although advanced optimization techniques such as Bayesian Optimization and Differential Evolution have been applied to address the challenges of automatic tuning of PID controllers, the influence of initial system states on convergence and the balance between exploration and exploitation remains underexplored. Moreover, experimenting the influence directly on real cyber-physical systems such as mobile robots is crucial for deriving realistic insights. In the present paper, a novel framework is introduced to evaluate the impact of systematically varying these factors on the PID auto-tuning processes that utilize Bayesian Optimization and Differential Evolution. Testing was conducted on two distinct PID-controlled robotic platforms, an omnidirectional robot and a differential drive mobile robot, to assess the effects on convergence rate, settling time, rise time, and overshoot percentage. As a result, the experimental outcomes yield evidence on the effects of the systematic variations, thereby providing an empirical basis for future research studies in the field.
RAVU: Retrieval Augmented Video Understanding with Compositional Reasoning over Graph
Venue: arXiv cs.CV 2025
Year: 2025

Comprehending long videos remains a significant challenge for Large Multi-modal Models (LMMs). Current LMMs struggle to process even minutes to hours videos due to their lack of explicit memory and retrieval mechanisms. To address this limitation, we propose RAVU (Retrieval Augmented Video Understanding), a novel framework for video understanding enhanced by retrieval with compositional reasoning over a spatio-temporal graph. We construct a graph representation of the video, capturing both spatial and temporal relationships between entities. This graph serves as a long-term memory, allowing us to track objects and their actions across time. To answer complex queries, we decompose the queries into a sequence of reasoning steps and execute these steps on the graph, retrieving relevant key information. Our approach enables more accurate understanding of long videos, particularly for queries that require multi-hop reasoning and tracking objects across frames. Our approach demonstrate superior performances with limited retrieved frames (5-10) compared with other SOTA methods and baselines on two major video QA datasets, NExT-QA and EgoSchema.
Automated Data Curation Using GPS & NLP to Generate Instruction-Action Pairs for Autonomous Vehicle Vision-Language Navigation Datasets
Venue: arXiv cs.RO 2025
Year: 2025

Instruction-Action (IA) data pairs are valuable for training robotic systems, especially autonomous vehicles (AVs), but having humans manually annotate this data is costly and time-inefficient. This paper explores the potential of using mobile application Global Positioning System (GPS) references and Natural Language Processing (NLP) to automatically generate large volumes of IA commands and responses without having a human generate or retroactively tag the data. In our pilot data collection, by driving to various destinations and collecting voice instructions from GPS applications, we demonstrate a means to collect and categorize the diverse sets of instructions, further accompanied by video data to form complete vision-language-action triads. We provide details on our completely automated data collection prototype system, ADVLAT-Engine. We characterize collected GPS voice instructions into eight different classifications, highlighting the breadth of commands and referentialities available for curation from freely available mobile applications. Through research and exploration into the automation of IA data pairs using GPS references, the potential to increase the speed and volume at which high-quality IA datasets are created, while minimizing cost, can pave the way for robust vision-language-action (VLA) models to serve tasks in vision-language navigation (VLN) and human-interactive autonomous systems.
RADE: Learning Risk-Adjustable Driving Environment via Multi-Agent Conditional Diffusion
Venue: arXiv cs.LG 2025
Year: 2025

Generating safety-critical scenarios in high-fidelity simulations offers a promising and cost-effective approach for efficient testing of autonomous vehicles. Existing methods typically rely on manipulating a single vehicle's trajectory through sophisticated designed objectives to induce adversarial interactions, often at the cost of realism and scalability. In this work, we propose the Risk-Adjustable Driving Environment (RADE), a simulation framework that generates statistically realistic and risk-adjustable traffic scenes. Built upon a multi-agent diffusion architecture, RADE jointly models the behavior of all agents in the environment and conditions their trajectories on a surrogate risk measure. Unlike traditional adversarial methods, RADE learns risk-conditioned behaviors directly from data, preserving naturalistic multi-agent interactions with controllable risk levels. To ensure physical plausibility, we incorporate a tokenized dynamics check module that efficiently filters generated trajectories using a motion vocabulary. We validate RADE on the real-world rounD dataset, demonstrating that it preserves statistical realism across varying risk levels and naturally increases the likelihood of safety-critical events as the desired risk level grows up. Our results highlight RADE's potential as a scalable and realistic tool for AV safety evaluation.
Interactive Instance Annotation with Siamese Networks
Venue: arXiv cs.CV 2025
Year: 2025

Annotating instance masks is time-consuming and labor-intensive. A promising solution is to predict contours using a deep learning model and then allow users to refine them. However, most existing methods focus on in-domain scenarios, limiting their effectiveness for cross-domain annotation tasks. In this paper, we propose SiamAnno, a framework inspired by the use of Siamese networks in object tracking. SiamAnno leverages one-shot learning to annotate previously unseen objects by taking a bounding box as input and predicting object boundaries, which can then be adjusted by annotators. Trained on one dataset and tested on another without fine-tuning, SiamAnno achieves state-of-the-art (SOTA) performance across multiple datasets, demonstrating its ability to handle domain and environment shifts in cross-domain tasks. We also provide more comprehensive results compared to previous work, establishing a strong baseline for future research. To our knowledge, SiamAnno is the first model to explore Siamese architecture for instance annotation.
QiMeng-CPU-v2: Automated Superscalar Processor Design by Learning Data Dependencies
Venue: arXiv cs.AR 2025
Year: 2025

Automated processor design, which can significantly reduce human efforts and accelerate design cycles, has received considerable attention. While recent advancements have automatically designed single-cycle processors that execute one instruction per cycle, their performance cannot compete with modern superscalar processors that execute multiple instructions per cycle. Previous methods fail on superscalar processor design because they cannot address inter-instruction data dependencies, leading to inefficient sequential instruction execution. This paper proposes a novel approach to automatically designing superscalar processors using a hardware-friendly model called the Stateful Binary Speculation Diagram (State-BSD). We observe that processor parallelism can be enhanced through on-the-fly inter-instruction dependent data predictors, reusing the processor's internal states to learn the data dependency. To meet the challenge of both hardware-resource limitation and design functional correctness, State-BSD consists of two components: 1) a lightweight state-selector trained by the simulated annealing method to detect the most reusable processor states and store them in a small buffer; and 2) a highly precise state-speculator trained by the BSD expansion method to predict the inter-instruction dependent data using the selected states. It is the first work to achieve the automated superscalar processor design, i.e. QiMeng-CPU-v2, which improves the performance by about $380\times$ than the state-of-the-art automated design and is comparable to human-designed superscalar processors such as ARM Cortex A53.
DCS-ST for Classification of Breast Cancer Histopathology Images with Limited Annotations
Venue: arXiv cs.CV 2025
Year: 2025

Deep learning methods have shown promise in classifying breast cancer histopathology images, but their performance often declines with limited annotated data, a critical challenge in medical imaging due to the high cost and expertise required for annotations.
DYSTIL: Dynamic Strategy Induction with Large Language Models for Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning from expert demonstrations has long remained a challenging research problem, and existing state-of-the-art methods using behavioral cloning plus further RL training often suffer from poor generalization, low sample efficiency, and poor model interpretability. Inspired by the strong reasoning abilities of large language models (LLMs), we propose a novel strategy-based reinforcement learning framework integrated with LLMs called DYnamic STrategy Induction with Llms for reinforcement learning (DYSTIL) to overcome these limitations. DYSTIL dynamically queries a strategy-generating LLM to induce textual strategies based on advantage estimations and expert demonstrations, and gradually internalizes induced strategies into the RL agent through policy optimization to improve its performance through boosting policy generalization and enhancing sample efficiency. It also provides a direct textual channel to observe and interpret the evolution of the policy's underlying strategies during training. We test DYSTIL over challenging RL environments from Minigrid and BabyAI, and empirically demonstrate that DYSTIL significantly outperforms state-of-the-art baseline methods by 17.75% in average success rate while also enjoying higher sample efficiency during the learning process.
Elastic Index Selection for Label-Hybrid AKNN Search
Venue: arXiv cs.DB 2025
Year: 2025

Real-world vector embeddings are usually associated with extra labels, such as attributes and keywords. Many applications require the nearest neighbor search that contains specific labels, such as searching for product image embeddings restricted to a particular brand. A straightforward approach is to materialize all possible indices according to the complete query label workload. However, this leads to an exponential increase in both index space and processing time, which significantly limits scalability and efficiency. In this paper, we leverage the inclusion relationships among query label sets to construct partial indexes, enabling index sharing across queries for improved construction efficiency. We introduce \textit{elastic factor} bounds to guarantee search performance and use the greedy algorithm to select indices that meet the bounds, achieving a tradeoff between efficiency and space. Meanwhile, we also designed the algorithm to achieve the best elastic factor under a given space limitation. Experimental results on multiple real datasets demonstrate that our algorithm can achieve near-optimal search performance, achieving up to 10x-500x search efficiency speed up over state-of-the-art approaches. Our algorithm is highly versatile, since it is not constrained by index type and can seamlessly integrate with existing optimized libraries.
Accelerating Evolution: Integrating PSO Principles into Real-Coded Genetic Algorithm Crossover
Venue: arXiv cs.NE 2025
Year: 2025

This study introduces an innovative crossover operator named Particle Swarm Optimization-inspired Crossover (PSOX), which is specifically developed for real-coded genetic algorithms. Departing from conventional crossover approaches that only exchange information between individuals within the same generation, PSOX uniquely incorporates guidance from both the current global best solution and historical optimal solutions across multiple generations. This novel mechanism enables the algorithm to maintain population diversity while simultaneously accelerating convergence toward promising regions of the search space. The effectiveness of PSOX is rigorously evaluated through comprehensive experiments on 15 benchmark test functions with diverse characteristics, including unimodal, multimodal, and highly complex landscapes. Comparative analysis against five state-of-the-art crossover operators reveals that PSOX consistently delivers superior performance in terms of solution accuracy, algorithmic stability, and convergence speed, especially when combined with an appropriate mutation strategy. Furthermore, the study provides an in-depth investigation of how different mutation rates influence PSOX's performance, yielding practical guidelines for parameter tuning when addressing optimization problems with varying landscape properties.